CN110227933A - Air-conditioning duct bales catch pipe assembling line - Google Patents
Air-conditioning duct bales catch pipe assembling line Download PDFInfo
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- CN110227933A CN110227933A CN201910450249.5A CN201910450249A CN110227933A CN 110227933 A CN110227933 A CN 110227933A CN 201910450249 A CN201910450249 A CN 201910450249A CN 110227933 A CN110227933 A CN 110227933A
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- pipe fitting
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- 238000004378 air conditioning Methods 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 7
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 210000000078 claw Anatomy 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Manipulator (AREA)
Abstract
The present invention relates to air-conditioning duct bales catch pipe assembling lines, including assembly or fitting table, robot, button pipe machine, assembly or fitting table assembles pipe pipe fitting to be detained, robot is crawled and assembled pipe pipe fitting to be detained on platform and is transferred at the button plumber position of button pipe machine, pipe pipe fitting to be detained at button pipe machine make-up plumber position carries out button pipe, and button pipe machine button plumber position has been detained pipe pipe fitting and removed and be transferred to unloading position by robot.It pipe pipe fitting will be needed to detain is put on assembly or fitting table and assemble, pipe fitting is transferred to the button plumber position of button pipe machine by robot, button pipe machine pipe fitting carries out button pipe, after the completion of button pipe, pipe fitting is transferred to unloading position by robot, and then robot grabs pipe pipe fitting to be detained from assembly or fitting table again, in cycles；This production line avoids staff from directly contacting button pipe machine, and the operating safety risks generated, staff only needs to assemble the pipe fitting for needing to detain pipe on assembly or fitting table, reduce the labor intensity of staff, promote working efficiency, and guarantee the consistency of button pipe work, promote the degree of automation.
Description
Technical field
The present invention relates to a kind of air-conditioning duct bales catch pipe assembling lines.
Background technique
My Products are mainly Air conditioning duct for automobile, largely to assemble button pipe in process of production, existing all artificial
Operation button plumber's sequence.Artificial button pipe has the disadvantage that 1, low efficiency；2, labour is largely consumed, it is at high cost, and operational danger
It is high；3, product button pipe is inconsistent, and pipe fitting is caused to be scrapped.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide it is a kind of it is high-efficient, operational safety is high and guarantees button pipe quality
Air-conditioning duct bales catch pipe assembling line.
Realize that technical scheme is as follows
Air-conditioning duct bales catch pipe assembling line, including assembly or fitting table, robot, button pipe machine, assembly or fitting table assemble pipe to be detained
Pipe fitting, robot are crawled and assembled the button plumber position place that pipe pipe fitting to be detained on platform is transferred to button pipe machine, at button pipe machine make-up plumber
Pipe pipe fitting to be detained carry out button pipe, robot, which will detain pipe machine button plumber position and detain pipe pipe fitting, to be removed and is transferred to unloading position.
Further, it is provided with the carrying platform of front-rear direction movement above the assembly or fitting table, is at least set on carrying platform
It is equipped with the kinematic nest of left and right directions movement, clamping device is provided in kinematic nest, clamping device includes being fixed on movement
Fixed block on seat, dynamic clamping is fixedly installed on fixed block, sliding is provided with quiet clamping, is formed between dynamic clamping, quiet clamping
The placement space of pipe pipe fitting to be detained.
Further, the clamping device further includes the pusher for driving dynamic clamping to move towards quiet clamping direction, and
Between dynamic clamping and quiet clamping after pusher is cancelled to dynamic clamping thrust, dynamic clamping and quiet clamping are formed into disengaging movement
Elastic component.
Further, at least provided with a pipe fitting end mould group on the carrying platform, pipe fitting end mould group includes a left side
The pedestal of right direction movement, is detachably equipped with pipe fitting die holder on the base, and die body, tool above die body are equipped on pipe fitting die holder
There is die cavity, and the pipe fitting in die cavity is constrained in the restraint device in die cavity.
Further, the unloading position is provided with pipe fitting hanger or pipe fitting conveyer.
Further, floating holding jaw mechanism is installed on the arm of the robot comprising fix with robot handle
The mounting plate of connection is fixedly installed guide rail on mounting plate, and is assemblied on guide rail by sliding block and is slided in guide rail stroke
Float plate, be fixedly mounted on the mounting plate there are two telescopic direction, the identical cylinder of driving trip, two cylinders are distributed in
The telescopic rod of the two sides of guide rail, two cylinders is connect with float plate respectively, and bracket is equipped in the float plate, is assembled on bracket
There is clamping jaw, and provides the supply air line of gas source for two cylinders, the air pressure in the supply air line adjustment input cylinder.
Further, intermediate above the float plate to be fixed with mounting blocks, portion is fixedly installed assembling block in the bracket, institute
The fitting groove offered on assembling block for mounting blocks insertion is stated, after mounting blocks plugging in fitting slot, company is fixed by connector
It connects.
Further, the section of the mounting blocks is dove-tail form, and assembly slot cross-section is the dovetail groove being adapted with mounting blocks；
Mounting blocks end has the bending end of outward bending.
Further, the supply air line includes compressed air input pipe, air pressure regulator, solenoid valve, and compressed air is defeated
Enter pipe to be connected to air pressure regulator formation, solenoid valve is connected to air pressure regulator formation, and two being formed with solenoid valve for cylinder connect
It is logical.
Further, plane where the float plate and mounting plate place plane parallel.
Further, the CCD camera for capturing pipe pipe fitting information to be detained on assembly or fitting table is provided with above the assembly or fitting table, and
For receiving the PLC controller of CCD camera output information, the pipe fitting information that the PLC controller transmits CCD camera,
It is compared with preset pipe fitting information, if the pipe fitting information contrasted matches, PLC controller controls robot for pipe fitting
It is sent at the button plumber position of button pipe machine, You Kouguan machine carries out button pipe movement, if the pipe fitting information contrasted does not match that, PLC
Controller controls robot and pipe fitting is transferred to substandard product area.
Using above-mentioned technical proposal, the pipe fitting for needing to detain pipe is placed on assembly or fitting table and is assembled, machine is then passed through
The good pipe fitting of assembly or fitting table over-assemble is transferred to the button plumber position of button pipe machine by device people, and button pipe machine is run, the pipe on make-up plumber position
Part carries out button pipe, and after the completion of detaining pipe, pipe fitting is transferred to unloading position by robot, then robot again from assembly or fitting table crawl to
Pipe pipe fitting is detained, in cycles, by using such production line, staff is avoided directly contact button pipe machine, and the behaviour of generation
Make security risk, staff only needs the pipe fitting for needing to detain pipe to be assembled on assembly or fitting table, reduces staff's
Labor intensity promotes working efficiency, and can guarantee to detain the consistency of pipe work, promotes the degree of automation.In addition, by machine
Floating type clip claw mechanism is set in device human arm, and the pipe fitting for needing to detain pipe is clamped by two Pneumatic clamping jaws, and cylinder, which stretches out to drive, to float
Movable plate stretches out, bracket stretches out, and in transportational process, adjusting the pressure in input cylinder by supply air line is transport air pressure, with into
Row stablizes transport, and after transport in place, the pressure inputted in cylinder is adjusted to by supply air line to keep air pressure, is formed and is protected
State is held, transport air pressure, which is greater than, keeps air pressure, as long as keeping air pressure that can support float plate, bracket and the weight for detaining pipe pipe fitting
Amount, then detain pipe machine buckling die decline carries out button pipe, avoid button pipe during, since the pressure of cylinder is excessive, buckling die decline with
It is collided, and the injury problem of make-up pipe pipe fitting and clip claw mechanism.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the left view structural representation of Fig. 1；
Fig. 3 is that Fig. 1 removes the structural schematic diagram after rack；
Fig. 4 is the left view structural representation of Fig. 3；
Fig. 5 is the structural schematic diagram in the present invention at assembly or fitting table；
Fig. 6 is the backsight structural representation of Fig. 5；
Fig. 7 is the structural schematic diagram of pedestal in the present invention；
Fig. 8 is to remove the structural schematic diagram after cover board in Fig. 7；
Fig. 9 is the structural schematic diagram of clamping device in the present invention；
Figure 10 is the assembling structure schematic diagram of mounting plate and float plate in the present invention；
Figure 11 is the right side structural representation of Figure 10；
Figure 12 is the structural schematic diagram of bracket in the present invention；
Figure 13 is the schematic diagram of supply air line in the present invention；
Figure 14 is the flow diagram of production line of the present invention；
In attached drawing, 1 is assembly or fitting table, and 2 be robot, and 3 be button pipe machine, and 4 be pipe pipe fitting to be detained, and 5 be rack, and 6 is flat for carrying
Platform, 7 be left rail, and 8 be right guide rail, and 9 be sliding block, and 10 be accommodating space, and 11 be pedestal, and 12 be sliding rail, and 13 be slide unit, and 14 be gas
Cylinder, 15 be travel switch contact, and 16 be travel switch, and 17 be cover board, and 18 be kinematic nest, and 19 be track, and 20 be sliding shoe, and 21 are
Clamping block, 22 be operating handle, and 23 be clamping device, and 24 be fixed block, and 25 be dynamic clamping, and 26 be quiet clamping, and 27 is recessed for arc
Slot, 28 be T-type sliding slot, and 29 be T-type sliding block, and 30 be elastic component, and 31 be rigging pilotage, and 32 be pipe fitting end mould group, and 33 be pedestal, 34
It is pipe fitting die holder for pusher cylinder, 35,36 be assembled shaft, and 37 be pilot hole, and 38 be locking pin, and 39 be lock handle, and 40 be mould
Body, 41 be die cavity, and 42 be swing clamp cylinder, and 43 be constraint block, and 4301 be hanger, and 44 be button pipe platform, and 45 be button pipe rack, and 46 be to lead
To track, 47 be driving motor, and 48 be driving screw rod, and 49 be quiet buckling die, and 4901 be dynamic buckling die, and 50 be guide post, and 51 be installation
Plate, 52 be guide rail, and 53 be sliding block, and 54 be float plate, and 55 be cylinder, and 56 be mounting portion, and 57 be connecting plate, and 58 be notch, and 59 are
Bracket, 60 be Pneumatic clamping jaw, and 61 be mounting blocks, and 62 be mounting groove, and 63 be assembling block, and 64 be fitting groove, and 65 be bending end, and 66 are
Intermediate plate, 67 be side plate, and 68 be pipe fitting support rod, and 69 be lightening hole, and 70 be compressed air input pipe, and 71 be air pressure regulator,
72 be solenoid valve, and 73 be block, and 74 be support frame, and 75 be CCD camera.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, ordinary skill
Personnel's every other embodiment obtained under the premise of being not necessarily to creative work, shall fall within the protection scope of the present invention.
As shown in Fig. 1-14, air-conditioning duct bales catch pipe assembling line, including assembly or fitting table 1, robot 2, button pipe machine 3,
Assembly or fitting table assembles pipe pipe fitting 4 to be detained, and robot is crawled and assembled the button plumber position place that pipe pipe fitting to be detained on platform is transferred to button pipe machine, detains
Pipe pipe fitting to be detained at pipe machine make-up plumber position carries out button pipe, and button pipe machine button plumber position has been detained pipe pipe fitting and removed and turn by robot
It is sent to unloading position.In addition to leaving a blank at the discharging of the working face, unloading position of assembly or fitting table, other positions are enclosed using rack 5
Gear guarantees the safety of operation.
The carrying platform 6 of front-rear direction movement is provided with above assembly or fitting table, assembly or fitting table is cabinet style, solid on assembly or fitting table
Surely there are left rail 7, right guide rail 8, the lower surface of carrying platform is respectively fixed with the sliding block 9 being slidably matched with two guide rails, in group
The driving for driving carrying platform to reciprocatingly slide on left and right rail is installed with the medium position below carrying platform above dress platform
Mechanism, driving mechanism include the pedestal 11 with accommodating space 10, and the upper end of accommodating space is open end, and pedestal is solid by screw
Surely it is connected on assembly or fitting table, fixed in pedestal there are two sliding rail 12, two sliding rail parallel arrangements, and are slidably matched and are assemblied in cunning
Slide unit 13 on rail, the both ends of the slide unit are connected by screw to part with the lower surface of carrying platform and are fixedly connected, and present internal
Cylinder 14 (electric cylinder or motor and screw rod cooperate) is installed, cylinder is between two sliding rails, the telescopic end and slide unit of cylinder
Lower section connection, carries out driving force transmission, drives the reciprocating motion of slide unit on the slide rail, and driving mechanism can be more using structure as above
The stable sliding in the front-back direction for driving carrying platform.Travel switch contact 15 is fixedly connected in slide unit side, on pedestal
Travel switch 16 is installed, travel switch is triggered by contact, realizes the switching of carrying platform front-rear direction movement.Pacify on pedestal
Equipped with cover board 17, accommodating space is covered, only retains slide unit both ends and is attached in outside with carrying platform, to appearance
Component in emptying forms protection.
The setting of carrying platform upper center is fixed with two there are two the kinematic nest 18 of left and right directions movement on the carrying platform
The track 19 of a left and right directions arrangement, is fixed with the sliding shoe 20 that card slides in orbit below kinematic nest, and the one of moving mass
Side is connected with clamping block 21, and lock-screw, the external operating handle 22 of lock-screw, when kinematic nest moves to are connected on clamping block
When needing position, lock-screw rotation is driven by operating handle, lock-screw then withstands on the side of carrying platform, and (or carrying is flat
Platform side is provided with the hole for lock-screw insertion) locking power is generated, kinematic nest can not move, and adjust kinematic nest as needed with this
The distance between, meet the group reload request of different length button pipe pipe fitting.
Clamping device 23 is provided in kinematic nest, clamping device includes the fixed block 24 being fixed in kinematic nest, fixed
Dynamic clamping 25 is fixedly installed on block, sliding is provided with quiet clamping 26, form putting for pipe pipe fitting to be detained between dynamic clamping, quiet clamping
Between emptying.The inside of dynamic clamping, the inside of quiet clamping are arc groove 27, are provided with T-type sliding slot 28, T-type sliding slot above fixed block
Inside be placed with T-type sliding block 29, the upper end of T-type sliding block is fixedly connected with dynamic clamping, clamping dynamic in this way can on fixed block, with
The guide direction of T-type sliding slot forms movement.
Clamping device further includes the pusher for driving dynamic clamping to move towards quiet clamping direction, and in dynamic clamping with it is quiet
Between clamping after pusher is cancelled to dynamic clamping thrust, dynamic clamping and quiet clamping are formed to the elastic component 30 of disengaging movement.?
Be fixedly installed rigging pilotage 31 in quiet clamping, rigging pilotage passes through dynamic clamping, and elastic component selects spring, spring pocket in rigging pilotage,
By the compression of dynamic clamping and quiet clamping, when pipe pipe fitting to be detained is placed in the placement space between dynamic clamping, quiet clamping, by robot
Before crawl, clamping can be moved by pushers, is drawn close to quiet clamping direction, and the button pipe position shape of button pipe pipe fitting can be treated
It is avoided in postorder robot transport process at pre- folder even if the button pipe position of button pipe pipe fitting is slightly distorted, detains and produced between pipe pipe fitting
Raw rotation, and influence the quality and consistency of button pipe, robot grab in clamping device when detaining pipe pipe fitting, pusher is recalled
To the power of dynamic clamping, moves clamping under the action of the elastic member, dynamic clamping is pushed open outward, it, will convenient for robot far from quiet clamping
Button pipe pipe fitting is caught from placement space.
At least provided with a pipe fitting end mould group 32 on carrying platform, is shown in illustrations and arrange two pipe fittings
End mould group, the intermediate pipe piece for detaining pipe are placed in clamping device and clamp, and slotting to intermediate pipe piece one or both ends when needing
When entering end pipe fitting, end pipe fitting is then placed into pipe fitting end mould group, by the movement of pipe fitting end mould group, by end pipe fitting
It is inserted into the end of intermediate pipe piece, to form connection.
Pipe fitting end mould group includes the pedestal 33 of left and right directions movement, and the lower section of pedestal 33 is slidedly assemblied in by sliding block
On the track 19 in face, pusher cylinder 34, the reciprocating motion that pusher cylinder pushes pedestal in orbit are installed on the carrying platform；
It is detachably equipped with pipe fitting die holder 35 on the base, the assembled shaft 36 arranged vertically is fixedly installed on pedestal, is opened up on pedestal
For the step mounting hole of assembled shaft lower end insertion, the lower end of assembled shaft is locked in by the screw being inserted upwardly into below pedestal
In mounting hole；The pilot hole 37 for assembled shaft insertion is opened up on pipe fitting die holder, behind assembled shaft plugging in fitting hole, then pipe fitting die holder
Be defined on the base, can not all around direction movement, locked between pedestal, pipe fitting die holder using locking pin 38,
Lock handle 39 is installed above locking pin, convenient for operation, can according to need quickly pipe fitting die holder is replaced in this way,
To meet the button pipe requirement of different pipe fittings.The pedestal moved simultaneously by left and right directions is able to drive pipe fitting die holder fortune thereon
Dynamic, the distance between the kinematic nest in the middle part of adjustment pipe fitting end mould group and carrying platform, the pipe fitting assembling for adapting to different length is wanted
It asks.
It is equipped with die body 40 on pipe fitting die holder, there is die cavity 41 above die body, die cavity is put into for pipe fitting；And by die cavity
In pipe fitting constrain in the restraint device in die cavity, restraint device selects swing clamp cylinder 42, and the turning end of swing clamp cylinder is equipped with about
Beam block 43, is put into die cavity to pipe fitting, and swing clamp cylinder rotation turns to constraint block above pipe fitting and constrained.
Unloading position is provided with pipe fitting hanger 4301 or pipe fitting conveyer.When selecting hanger, robot will detain the pipe of pipe
Part is transferred on hanger and is temporarily stored；When selecting pipe fitting conveyer (belt conveyor), robot will detain the pipe fitting of pipe
It is transferred on conveyer and transmits out automatically, selection uses as needed.
Button pipe machine 3 selects the button tube apparatus of vertical or horizontal mode, and button pipe machine shown in illustrations is vertical button
Tube apparatus, including button pipe platform 44, button pipe rack 45, detain and are equipped with guide rail 46 on pipe platform, pass through sliding block below button pipe rack
It being slidedly assemblied on guide rail, driving motor 47 is installed in button pipe rack side, driving motor is connected with driving screw rod 48,
It uses to be threadedly engaged between driving screw rod and button pipe rack and be driven, be such as fixedly installed with drive block in button pipe rack, pass
Motion block is driven with driving screw rod using engagement thread cooperation, such driving motor rotation, by driving screw rod that button is driven to be managed
Reciprocating motion of the rack on guide rail is adjusted the position of button pipe rack with this, meets the requirement of different pipe fitting button pipe positions；
Fixing assembling has quiet buckling die 49, guide post 50 in button pipe rack, and dynamic buckling die 4901 is cased in guide post, moves buckling die lower surface, quiet
It is formed between buckling die upper surface and detains pipe die chamber, button pipe oil cylinder is equipped with above button pipe rack, detained the lower end of pipe oil cylinder and move and buckle
Mould connection is in the movement of division and modulus with quiet buckling die to drive dynamic buckling die to move up and down along guide post.
Floating holding jaw mechanism, including mounting plate 51 are installed, screw is fixedly installed on a mounting board on the arm of robot
There are two guide rails 52, two guide rails are arranged in parallel in the same surface of mounting plate, and are assemblied on guide rail and are leading by sliding block 53
The float plate 54 slided in rail stroke, plane parallel where plane where float plate and mounting plate.It is fixedly mounted on mounting plate
There are two telescopic direction, the identical cylinder 55 of driving trip, two cylinders are distributed in the two sides of guide rail, the telescopic rod of two cylinders
It is connect respectively with float plate, the end of float plate bends out the mounting portion 56 bent downward, is connected with company in mounting portion screwing
Fishplate bar 57 opens up out notch 58 on connecting plate, and the shape being adapted with notch is cut into the telescopic rod front end of cylinder, in order to insert
Enter notch, that is, form certain positioning, then the front end of telescopic rod is formed a fixed connection with connecting plate by screw, such gas
Stretching for cylinder, is just able to drive float plate and reciprocatingly slides on guide rail；It is equipped with bracket 59 in float plate, is equipped with gas on bracket
Dynamic clamping jaw 60, clamps the pipe fitting for needing to detain pipe by Pneumatic clamping jaw, and Pneumatic clamping jaw uses common clamping jaw structure, herein
Seldom repeat.Screw is connected with block 73 on a mounting board, which forms gear to sliding block 53, i.e., stretches out in place in cylinder
When, stroke of the sliding block on guide rail is just stopped by block, to guarantee the accuracy of float plate movement.
Intermediate above float plate to be fixed with mounting blocks 61, the centre above float plate is outputed mutually fits with mounting blocks width
Mounting blocks are fixedly connected in float plate after being inserted into mounting groove on mounting blocks by screw by the mounting groove 62 answered, and guarantee peace
The phenomenon that mounting stability for filling block is not in deflection；Portion is fixedly installed assembling block 63 in the bracket, at the middle part of bracket
The mounting groove being adapted with assembling block width is offered to be fixedly connected with assembling block by screw after assembling block is packed into mounting groove
On bracket, the phenomenon that guaranteeing the mounting stability of mounting blocks, be not in deflection.
The fitting groove 64 for mounting blocks insertion is offered on assembling block, after mounting blocks plugging in fitting slot, passes through connector (spiral shell
Nail) it is fixedly connected.The section of mounting blocks is dove-tail form, and assembly slot cross-section is the dovetail groove being adapted with mounting blocks；Installation
Block end has the bending end 65 of outward bending, with convenient for assembly.
Bracket be it is U-shaped, the both ends of bracket are respectively fitted with Pneumatic clamping jaw.Bracket is made of 66, two side plates 67 of intermediate plate,
Two side plates are fixed by screws in the both ends of intermediate plate, and two side plates are in be vertically installed on intermediate plate, two pneumatic clamps
Pawl is separately mounted to the front end of two side plates；The pipe fitting branch bent outward is fixedly connected in the intermediate plate screwing of bracket
Strut 68, to be supported to the pipe fitting for needing to detain pipe.Lightening hole 69 is offered on side plate, to mitigate the weight of side plate,
The air pressure under cylinder hold mode can be reduced accordingly.
And the supply air line of gas source is provided for two cylinders, the air pressure in supply air line adjustment input cylinder.Air supply pipe
Road includes compressed air input pipe 70, air pressure regulator 71, solenoid valve 72, and compressed air input pipe and air pressure regulator, which are formed, to be connected
Logical, solenoid valve is connected to air pressure regulator formation, and two being formed with solenoid valve for cylinder are connected to.In the course of work, mounting plate peace
In robot, clip claw mechanism movement is driven by robot, the pipe fitting for needing to detain pipe is clamped by two Pneumatic clamping jaws, and is had
Pipe fitting they sup-port, cylinder, which stretches out, drives float plate stretching, bracket to stretch out, and in transportational process, is adjusted by air pressure regulator
The pressure inputted in cylinder is transport air pressure, and such as 5bar will by air pressure regulator to be transported, and after transport in place
Pressure is adjusted to keep air pressure in input cylinder, is such as adjusted to 1.5bar, hold mode is formed, as long as floating can have been supported
Plate, bracket and the weight for detaining pipe pipe fitting, the buckling die decline for then detaining pipe carries out buckling die, during avoiding button pipe, due to cylinder
Pressure is excessive, and buckling die declines the injury problem to pipe fitting and clip claw mechanism.
Support frame 74 is installed above assembly or fitting table, is equipped with CCD camera 75 right above assembly or fitting table on support frame,
CCD camera is used to capture the button pipe pipe fitting information on assembly or fitting table, that is, claps the pipe fitting picture for taking assembly or fitting table over-assemble good, and be used for
The PLC controller of CCD camera output information is received, the pipe fitting information that PLC controller transmits CCD camera is and preset
Pipe fitting information compares, if the pipe fitting information contrasted matches, PLC controller controls robot and pipe fitting is sent into button pipe
At the button plumber position of machine, You Kouguan machine carries out button pipe movement, if the pipe fitting information contrasted does not match that, PLC controller control
Pipe fitting is transferred to substandard product area by robot processed.
The operational process of system such as Figure 14 is shown, and after pipe fitting assembling in place, staff withdraws assembling area, robot crawl
Pipe pipe fitting to be detained on assembly or fitting table selects pipe fitting program, and CCD camera is taken pictures, and obtains the image information of pipe fitting, is then turned by A/D
It changes, obtains the pipe fitting information in image, pipe fitting information is passed into PLC controller, controller is believed according to preset tubular length
Breath is compared with received pipe fitting information, and when length mismatches, pipe fitting crawl is placed into the material for not conforming to area by robot
In frame, when length vs are in preset error range, PLC controller then carries out error in length compensation, and robot executes benefit
Error in length is repaid, pipe fitting is grabbed button plumber position and carries out button pipe by robot, that is, enter qualified area, after the completion of button pipe work, pipe
Part is transferred to unloading position, and then robot returns to work origin, waits the circulation of subsequent work.
Claims (10)
1. air-conditioning duct bales catch pipe assembling line, which is characterized in that including assembly or fitting table, robot, button pipe machine, assembly or fitting table group
Fill pipe pipe fitting to be detained, robot is crawled and assembled the button plumber position place that pipe pipe fitting to be detained on platform is transferred to button pipe machine, button pipe machine make-up
Pipe pipe fitting to be detained at plumber position carries out button pipe, and button pipe machine button plumber position has been detained pipe pipe fitting and removed and be transferred to discharging by robot
Position.
2. air-conditioning duct bales catch pipe assembling line as described in claim 1, which is characterized in that set above the assembly or fitting table
It is equipped with the carrying platform of front-rear direction movement,
At least provided with the kinematic nest of left and right directions movement on carrying platform, clamping device is provided in kinematic nest,
Clamping device includes the fixed block being fixed in kinematic nest, be fixedly installed on fixed block dynamic clamping, sliding be provided with it is quiet
Clamping forms the placement space of pipe pipe fitting to be detained between dynamic clamping, quiet clamping.
3. air-conditioning duct bales catch pipe assembling line as claimed in claim 2, which is characterized in that the clamping device also wraps
The pusher for driving dynamic clamping to move towards quiet clamping direction is included, and is cancelled between dynamic clamping and quiet clamping in pusher
After dynamic clamping thrust, dynamic clamping and quiet clamping are formed to the elastic component of disengaging movement.
4. air-conditioning duct bales catch pipe assembling line as claimed in claim 2, which is characterized in that the carrying platform up to
It is provided with a pipe fitting end mould group less, pipe fitting end mould group includes the pedestal of left and right directions movement, removable on the base to remove stage makeup and costume
Equipped with pipe fitting die holder, it is equipped with die body on pipe fitting die holder, there is die cavity above die body, and the pipe fitting in die cavity is constrained in into mould
Restraint device in slot.
5. air-conditioning duct bales catch pipe assembling line as described in claim 1, which is characterized in that the unloading position setting
There are pipe fitting hanger or pipe fitting conveyer.
6. the air-conditioning duct bales catch pipe assembling line as described in any one of claim 1-5, which is characterized in that described
Floating holding jaw mechanism is installed on the arm of robot comprising the mounting plate being fixedly connected with robot handle, on mounting plate
It is fixedly installed guide rail, and the float plate slided in guide rail stroke on guide rail is assemblied in by sliding block, on the mounting plate
It is fixedly mounted there are two telescopic direction, the identical cylinder of driving trip, two cylinders are distributed in the two sides of guide rail, two cylinders
Telescopic rod is connect with float plate respectively, and bracket is equipped in the float plate, and clamping jaw is equipped on bracket, and is two cylinders
The supply air line of gas source, the air pressure in the supply air line adjustment input cylinder are provided.
7. air-conditioning duct bales catch pipe assembling line as claimed in claim 6, which is characterized in that in above the float plate
Between be fixed with mounting blocks, portion is fixedly installed assembling block in the bracket, offered on the assembling block for mounting blocks insertion dress
Slot allocation after mounting blocks plugging in fitting slot, is fixedly connected by connector.
8. air-conditioning duct bales catch pipe assembling line as claimed in claim 7, which is characterized in that the section of the mounting blocks
For dove-tail form, assembling slot cross-section is the dovetail groove being adapted with mounting blocks；Mounting blocks end has the bending end of outward bending.
9. air-conditioning duct bales catch pipe assembling line as claimed in claim 6, which is characterized in that the supply air line includes
Compressed air input pipe, air pressure regulator, solenoid valve, the formation of compressed air input pipe and air pressure regulator be connected tos, solenoid valve and
Air pressure regulator forms connection, and two being formed with solenoid valve for cylinder are connected to.
10. air-conditioning duct bales catch pipe assembling line as claimed in claim 6, which is characterized in that above the assembly or fitting table
It is provided with the CCD camera for capturing pipe pipe fitting information to be detained on assembly or fitting table, and the PLC control for receiving CCD camera output information
Device processed,
The pipe fitting information that the PLC controller transmits CCD camera is compared with preset pipe fitting information, if comparison
Pipe fitting information out matches, then pipe fitting is sent at the button plumber position of button pipe machine by PLC controller control robot, You Kouguan machine
Button pipe movement is carried out, if the pipe fitting information contrasted does not match that, pipe fitting is transferred to by PLC controller control robot not to be conformed to
Lattice product zone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910450249.5A CN110227933A (en) | 2019-05-24 | 2019-05-24 | Air-conditioning duct bales catch pipe assembling line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910450249.5A CN110227933A (en) | 2019-05-24 | 2019-05-24 | Air-conditioning duct bales catch pipe assembling line |
Publications (1)
| Publication Number | Publication Date |
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| CN110227933A true CN110227933A (en) | 2019-09-13 |
Family
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|---|---|---|---|
| CN201910450249.5A Pending CN110227933A (en) | 2019-05-24 | 2019-05-24 | Air-conditioning duct bales catch pipe assembling line |
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| CN (1) | CN110227933A (en) |
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